Data Fusion of MEMS IMU/GPS Integrated System for Autonomous Land Vehicle*

摘要

To improve the performance of MEMES IMU based integrated system, the data fusion method integrated AI and Kalman filter was discussed. First, GPS signal validity and vehicle motion status were identified by using fuzzy logics. And when GPS doesn’t outage, its data were set higher weight to be used to guide ALV; otherwise, AI (Artificial Intelligence) based integration algorithm with the help of Kalman filter was adopted. The method can make full use of the advantages of KF (Kalman Filter) and AI, and reduce their limitations.